Space Limit

In addition to the robot's joint angle limit of Robot Limits, the robot can limit the operating space on orthogonal coordinates. If the robot or TCP violates the Space Limit during auto operation or manual mode, it will stop according to the Safety Stop Mode settings. When the robot or TCP reaches the boundary of the Space Limit during direct teaching using hand guiding, a repelling force can be felt.

By selecting the Inspection Point, it is possible to select whether the Space Limit will target the entire robot body or only the TCP.

By selecting the Valid Space, it is possible to select whether the Inspection Point will not violate or not exceed a designated space.

It is possible to easily designate an expanded volume from designated coordinates using Zone Margin.

Select Dynamic Zone Enable to enable/disable the zone based on the input signals from the designated safety I/O port. If the input is not enabled, the corresponding Space Limit will become disabled, and the robot operates as if the corresponding Space Limit is not present